【作者】 魏娟；

【导师】 马宏伟；

【作者基本信息】 西安科技大学 ， 安全技术及工程， 2011， 博士

【摘要】 机器人的应用已经遍及海陆空,但迄今为止煤矿救援机器人在国内外煤矿事故救援中尚无成功应用的实例。针对我国煤矿瓦斯爆炸等不安全事故频发,救援水平较低的现状,在国家自然科学基金和陕西省自然科学基金的资助下,深入研究了煤矿救援机器人的体系结构、机械本体、运动特性和导航算法等关键技术问题,为构建高速、可靠、安全、有效的煤矿救援机器人系统奠定了坚实的基础。针对煤矿瓦斯事故多发生在距井口较远的工作面的实际,首次提出采用轨道轮式运载车加履带式探测机器人的两级救援机器人系统,运载车借助于矿车轨道快速行驶将履带式探测机器人运至距事故现场最近处,探测机器人在事故现场实施信息采集。两级机器人系统的救援体系结构,充分利用了井下已有的运输轨道,发挥轮式移动机器人和履带式移动机器人各自的优点,达到了快速救援的目的。在充分论证运载车可行性的基础上,对运载车机械本体的运行安全性进行了定义,分析了影响运载车运行安全性的因素,研究了基于运行安全性的运载车运动性能评价指标,提出了以脱轨系数、轮重减载率、离心加速度为评价指标,结合轮轨蠕滑力、纵横向振动位移和加速度进行评判的运载车运行安全性评价体系。基于虚拟样机技术,采用模块化、参数化设计思想,设计了运载机车的结构,包括以轨道轮为主的行走装置、电气加机械的双重制动装置、车体和行走机构的连接缓冲装置以及车体等部分,完成了全部的零件图设计并进行了装配设计,为运载车的运动仿真提供了理论依据和原始数据。利用具有非完整约束的多体系统动力学理论,建立了运载车的力学模型和数学模型,将运载车分解成由11个刚体、12个铰和6个力元组成的多体系统,通过切割铰的方式建立了运载车的有根树系统力学模型,推导出运载车的纵向运动学、动力学和振动学方程。同时分析了运载车工作的轨道环境,建立了基于随机信号理论的煤矿井下轨道不平顺模型和基于现场实际的轨道线路模型。通过分析影响运载车的移动性能的因素,研究了运载车运行安全性评价参数,建立了基于虚拟样机的运载车综合评价与分析仿真环境,采用单参数和多参数的复合优化方法,以运载车的运行安全性为目标,以轮轨接触状况为评价参数,以虚拟样机技术为工具,设计并研究了运载车几何参数和运动参数评价方法,并对结果进行了评价。研究了基于煤矿井下GIS的运载车自主导航方法,研究了基于图论的煤矿井下轨道模型的建立方法,以轨道的交点为顶点,以相邻两顶点之间的轨道为弧,以每条弧的长度、倾斜度、与其它弧的连接因子、通行因子为评价函数,建立了带权的井下轨道的地图模型,在此基础上提出了基于广度优先的载机器人最佳路径搜索算法。更多还原

【Abstract】 Robots have been widely used on land, in sea and in the sky, but there has still not been a successful instance in the mine accident rescue so far, no matter from home or abroad. In view of the frequent accidents of coal mine and the lower levels of rescue automation, the architecture, mechanical structure, kinetic characteristics, navigation algorithm and other the key technical problems of the mine rescue robots have been studied in-depth, which has been supported by The National Natural Science Fund and Shaanxi Provincial Natural Science. It has laid a solid foundation for the establishment of a fast, reliable, safe and effective system of the mine rescue robots.According to the fact that coal gas accident always happens at the working face far from well, The two-level rescue robots system of coal mine is put forward firstly, which contains carrier with rail-wheel and exploration robot with track. The carrier carries fleetly the exploration robot to the scene of accident by dint of tramroad, and the exploration robot collected the information at the scene of accident. The two-level rescue robots system architecture full utilize the existing tramroads, bring into play respective merits of rail-wheel and track, achieve the purpose of quick rescue.Based on fully argumentation the basis of carrier feasibility, movement safety was defined to the carrier that the mechanism part of carrier, then analysed the influenced factors of the carrier movement safety, studied the evaluation indexes of the carrier movement safety based on running security, brought forward the evaluation system of tha carrier movement safety, which using Nadal, D. Ration and acceleration as evaluation indexes and combining creep forces of wheel-rail contact, displacement and acceleration.Based technical prototype, use modular and parameterized method, designed the carrier mechanical structure that contain moving equipment with wheel-rail, braking equipment with pneumatics, joint buffer between the carrier body and the moving structure and carrier body etc. The all parts and assemble design have been finished in SolidWorks, it offered the theoretical foundation and the raw data for the carrier movement simulation.According to the dynamic theory of multibody systems with non-holonomic constraint, built the mechanical models and mathematical models of the carrier, disassembled the carrier into multibody system form 11 rigid bodies, 12 joints and 6 force elements, established the mechanics model of spanning tree system by cutting the way of joints, followed the kinematics and dynamics equations in the longitudinal of the carrier. Also analyzed the rail environment of the carrier working, established irregularity model based on the random signal theory and the rail track model based on actual of the coal mine.Via analyzing the factors that influence the carrier locomotion performance, studied the evaluation parameters of the carrier movement safety, established the simulated environment of comprehensive evaluation and analysis based on virtual prototyping technology. Using the complex optimize method of single parameter and multiple parameters, as the carrier movement safety for aim, as the wheel-rail contact for evaluation parameters, as the virtual prototyping technology for tool, designed and studied the evaluation methods of geometry parameters and movement parameters, and evaluated the simulation results.Researched the carrier automotive navigation methods based on mine GIS and the building model methods of mine rail track based on the graph theory, made the points of rail intersection as vertex, made the rail between the two neighboring as edge, and made the length, gradient, with other arcs connection factors, transit factors as evaluation function, established the mine rail map model with weighted, based on these put forward the search algorithm for finding optimization path based on the breadth first search methods.更多还原